/* Players every frame */
void FixedUpdate()
{
movePlayer(this.moveToObstacle);
// shininegh color
if (this.sameColor)
{
this.fixedUpdate++;
}
if (this.sameColor && fixedUpdate == fixUpdateInterval)
{
fixedUpdate = 0;
for (int i = 0; i < sameColorList.Count; i++)
{
if (moveableObs.ContainsKey(sameColorList[i].getTag()))
{
moveableObs[sameColorList[i].getTag()].disHighlight();
sameColorList[i].highlight();
obstacle temp = moveableObs[sameColorList[i].getTag()];
moveableObs[sameColorList[i].getTag()] = sameColorList[i];
sameColorList[i] = temp;
}
}
}
}
private float axisZ = 1.7f; //Controller of the hieght of the ship.
void Start()
{
this.statementList = new List <Statement> ();
this.sameColorList = new List <obstacle> ();
this.loopPath = new List <obstacle> ();
this.moveableObs = new Dictionary <string, obstacle> ();
this.moveToObstacle = firstObstacle;
this.targetObatacle = firstObstacle;
lr = gameObject.AddComponent <LineRenderer>();
lr.SetWidth((float)0.05, (float)0.05);
lr.material = new Material(Shader.Find("Sprites/Default"));
lr.SetColors(Color.black, Color.white);
lr.SetVertexCount(2);
drawline(firstObstacle.transform.position);
this.transform.LookAt(firstObstacle.transform.position - new Vector3(0f, 0f, axisZ));
if (transform.position.x > moveToObstacle.transform.position.x)
{
this.transform.Rotate(transform.rotation.x, transform.rotation.y, 180);
}
//this.transform.Rotate (transform.rotation.x, transform.rotation.y, 150);
//this.transform.Rotate (transform.rotation.x, transform.rotation.y, 20);
}
IEnumerator SpawnRandomObstacles()
{
yield return(new WaitForSeconds(Random.Range(0.5f, 5f)));
int index = Random.Range(0, obstaclesToSpawn.Count);
while (true)
{
obstacle obstacles = obstaclesToSpawn[index];
if (!obstacles.gameObject.activeInHierarchy)
{
obstacles.gameObject.SetActive(true);
obstacles.transform.position = transform.position;
break;
}
else
{
index = Random.Range(0, obstaclesToSpawn.Count);
}
}
StartCoroutine(SpawnRandomObstacles());
}
/*
* Calculate the movement base on where the character is.
*/
private void calMovement(obstacle obs)
{
IEnumerable <char> c = "";
string result = "";
obstacle[] connObs = obs.getConnection();
foreach (Statement s in statementList)
{
if (s.getType().Equals("I"))
{
string temp = s.getCondtion();
if (temp.Contains(obs.getTag()))
{
c = c.Union(s.getResult());
}
}
else if (s.getType().Equals("L"))
{
string str = s.getCondtion() + s.getResult();
obstacle lresult = checkLoop(0, 0, str, obs, null);
if (lresult != null)
{
moveableObs.Add("L", lresult);
lresult.highlight();
send("L");
this.loopPath.IndexOf(lresult);
}
}
}
foreach (char ch in c)
{
result += ch;
}
foreach (obstacle o in connObs)
{
//print ("oname:" + o.getName());
if (result.Contains(o.getTag()))
{
if (moveableObs.ContainsKey(o.getTag()))
{
//print ("test" + o.getTag());
print(this.sameColor);
this.sameColorList.Add(o);
this.sameColor = true;
}
else
{
moveableObs.Add(o.getTag(), o);
o.highlight();
send(o.getTag());
}
}
}
}
void OnTriggerEnter2D(Collider2D other)
{
if (!_grounded && other.gameObject.tag == "Terrain")
{
MapController map = other.gameObject.GetComponent <MapController>();
if (!map.leftMap(transform.position.x))
{
bool isMain = map == Camera.main.GetComponent <followPlayer>()._mainMap;
if (!map.badCollision(transform.right, transform.position.x, _badCollisionAngle))
{
_grounded = true;
if (achievedRotation)
{
_rotationBoostTime = maxRotationBoostTime;
}
achievedRotation = false;
_rotation = 0;
_currentMap = map;
adjustRotationToMap(true);
if (isMain)
{
_sp.land();
}
else
{
_sp.startGrind();
}
}
else if (isMain)
{
_rotationBoostTime = 0;
blink();
}
}
}
else if (other.gameObject.tag == "Obstacle")
{
_obstacleTime = maxObstaclePenaltyTime;
_rotationBoostTime = 0;
obstacle o = other.gameObject.GetComponent <obstacle>();
_velocity = _velocity.normalized * 0;
_sp.trash();
o.destroy();
}
else if (other.gameObject.tag == "ramp")
{
if (_grounded && _currentMap == _mainMap)
{
weakJump();
}
}
}
/*
* Get data from user
*/
public void input(string command)
{
if (inputAble)
{
print(this.name + " get command: " + command);
print(command.Length);
if (!gameStart)
{
newStatement += command;
if (newStatement.Contains("E"))
{
print(newStatement);
addStatement(newStatement);
newStatement = "";
}
}
else
{
foreach (string s in moveableObs.Keys)
{
print(s);
}
if (moveableObs.ContainsKey(command))
{
if (command.Contains("L"))
{
this.moveToObstacle = this.loopPath.ElementAt(1);
this.targetObatacle = moveableObs[command];
this.speed = 8f;
}
else
{
this.moveToObstacle = moveableObs[command];
this.targetObatacle = this.moveToObstacle;
}
this.moveObject = true;
this.inputAble = false;
foreach (obstacle o in moveableObs.Values)
{
o.disHighlight();
}
this.sameColorList.Clear();
this.sameColor = false;
this.moveableObs.Clear();
}
}
}
}
/*
* Check if the obstacle be able to use LOOP
*/
private obstacle checkLoop(int x, int y, string str, obstacle obs, obstacle final)
{
obstacle finalObstacle = final;
int current = x;
int next = 0;
if (current == str.Length - 1)
{
next = 0;
}
else
{
next = current + 1;
}
if (y > 0 && current == str.Length - 1)
{
finalObstacle = obs;
}
//print (str + ": " + current);
if (obs.getTag().Contains(str.ElementAt(current)))
{
this.loopPath.Add(obs);
foreach (obstacle o in obs.getConnection())
{
if (o.getTag().Contains(str.ElementAt(next)) && !loopPath.Contains(o))
{
if (current == str.Length - 1)
{
return(checkLoop(next, y + 1, str, o, finalObstacle));
}
else
{
return(checkLoop(next, y, str, o, finalObstacle));
}
}
}
if (y > 0)
{
return(finalObstacle);
}
}
return(null);
}
/* Moves player based on provided next position */
void movePlayer(obstacle obs)
{
//gets next objects possition
float xPos = obs.transform.position.x;
float yPos = obs.transform.position.y;
Vector3 newPos = new Vector3(xPos, yPos, -1.7f);
float step = this.speed * Time.deltaTime;
if (moveObject == true)
{
this.planetTrigger = false;
transform.position = Vector3.MoveTowards(transform.position, newPos, step);
transform.LookAt(this.moveToObstacle.transform.position - new Vector3(0f, 0f, axisZ));
if (transform.position.x > moveToObstacle.transform.position.x)
{
this.transform.Rotate(transform.rotation.x, transform.rotation.y, 180);
}
this.speed += 0.05f;
}
if (this.planetTrigger)
{
this.transform.position = this.moveToObstacle.transform.position - new Vector3(0f, 0f, axisZ);
}
if (transform.position.x == newPos.x && transform.position.y == newPos.y)
{
this.moveObject = false;
this.planetTrigger = true;
this.speed = 2.5f;
//this.transform.position.x = this.moveToObstacle.transform.position.x;
//this.transform.position.y = this.moveToObstacle.transform.position.y;
}
}
// Update is called once per frame
void FixedUpdate()
{
PlayerInput();
if (speedfactor > speedlimit)
{
speedfactor = speedlimit;
}
if (speed < minspeed)
{
speed = minspeed * SpeedPercentage;
}
speed = speedfactor * SpeedPercentage;
zAxis = transform.localPosition;
zAxis.z = 0;
transform.localPosition = zAxis;
if (timer > 2)
{
speedblocker = false;
timer = 0;
}
if (speedblocker)
{
speedlimit = 0.5f;
timer += Time.deltaTime;
}
this.transform.rotation = new Quaternion(0, 0, 0, 0);
if (SA_AttachedKugeln.Count > 0)
{
GetComponentInChildren <Image>().fillAmount = 0;
var v3 = Input.mousePosition;
v3.z = 10.0f;
v3 = Camera.main.ScreenToWorldPoint(v3);
//this.GetComponent<LineRenderer>().enabled = true;
//this.GetComponent<LineRenderer>().SetPosition(0, this.transform.position);
//this.GetComponent<LineRenderer>().SetPosition(1, Camera.main.ScreenToWorldPoint(Input.mousePosition));
foreach (Kugel Kugel in SA_AttachedKugeln)
{
Kugel.kugelstate = KugelState.Loaded;
Physics.IgnoreCollision(Kugel.GetComponent <Collider>(), GetComponent <Collider>(), true);
this.GetComponent <LineRenderer>().SetPosition(0, Vector3.zero);
Kugel.GetComponent <LineRenderer>().SetPosition(1, this.transform.position - Kugel.transform.position);
if (Vector3.Distance(Kugel.transform.position, this.transform.position) > 0.1f)
{
Kugel.delta += Time.deltaTime * 2;
}
Kugel.transform.position = Vector3.MoveTowards(Kugel.transform.position, this.transform.position, Kugel.delta);
}
if (singleplayer)
{
foreach (Kugel Kugel in SA_AttachedKugeln)
{
if (Input.GetKeyDown(KeyCode.Space) && !Shoot && Vector3.Distance(this.transform.position, Kugel.transform.position) < 0.5f)
{
//Shoot = true;
foreach (obstacle obstacl in obstacle.All)
{
if (obstacl.obstaclestate == ObstacleState.DestructableWall)
{
if (Vector3.Distance(obstacl.transform.position, this.transform.position) < oldDistance)
{
oldDistance = Vector3.Distance(obstacl.transform.position, this.transform.position);
current_target = obstacl;
}
}
//foreach (obstacle obstacl in obstacle.All)
//{
// Vector3 screenPoint = Camera.main.WorldToViewportPoint(obstacl.transform.position);
// bool onScreen = screenPoint.z > 0 && screenPoint.x > 0 && screenPoint.x < 1 && screenPoint.y > 0 && screenPoint.y < 1;
//}
}
if (current_target.obstaclestate == ObstacleState.DestructableWall)
{
Debug.Log("works");
GetComponent <AudioSource>().clip = aShot;
GetComponent <AudioSource>().Play();
Kugel.kugelstate = KugelState.Shot;
SA_AttachedKugeln.Remove(Kugel);
Kugel.GetComponent <Rigidbody>().AddForce((current_target.transform.position - this.transform.position).normalized * 55, ForceMode.Impulse);
Kugel.EnableCollider(this, Kugel);
current_target = null;
oldDistance = 10000;
break;
}
}
}
}
if (!singleplayer)
{
if (this == All[0])
{
foreach (Kugel Kugel in SA_AttachedKugeln)
{
if (Input.GetKeyDown(KeyCode.Space) && !Shoot && Vector3.Distance(this.transform.position, Kugel.transform.position) < 0.5f)
{
//Shoot = true;
{
{
GetComponent <AudioSource>().clip = aShot;
GetComponent <AudioSource>().Play();
Kugel.kugelstate = KugelState.Shot;
SA_AttachedKugeln.Remove(Kugel);
Kugel.GetComponent <Rigidbody>().AddForce((All[1].transform.position - this.transform.position).normalized * 55, ForceMode.Impulse);
Kugel.EnableCollider(this, Kugel);
break;
}
}
}
}
}
if (this == All[1])
{
foreach (Kugel kugel in SA_AttachedKugeln)
{
if (Input.GetKeyDown(KeyCode.M) && !Shoot && Vector3.Distance(this.transform.position, kugel.transform.position) < 0.5f)
{
{
{
GetComponent <AudioSource>().clip = aShot;
GetComponent <AudioSource>().Play();
kugel.kugelstate = KugelState.Shot;
SA_AttachedKugeln.Remove(kugel);
kugel.GetComponent <Rigidbody>().AddForce((All[0].transform.position - this.transform.position).normalized * 55, ForceMode.Impulse);
kugel.EnableCollider(this, kugel);
break;
}
}
}
}
}
}
}
if (SA_AttachedKugeln.Count == 0 && !SpecialAttackReady)
{
this.GetComponent <LineRenderer>().enabled = false;
SAtimer += Time.deltaTime * 2;
GetComponentInChildren <Image>().fillAmount = SAtimer;
if (SAtimer > 1)
{
SAtimer = 0;
SpecialAttackReady = true;
}
}
}
public void Save()
{
// 1. Get the SaveName;
string scenarioName = ScenarioName.text;
// 2. Get all the existing scenes from gamemanager.
List <GameObject> AllScenes = null;
if (gamemanager.name == "DesignSceneGameManager")
{
AllScenes = gamemanager.GetComponent <DesignSceneGameManager>().AllScenes;
}
// 3. Create a folder named with savename.
WorkingDirectory = Application.persistentDataPath + "/" + scenarioName;
// If there already exists a scenario with scenarioName, replace it with the new one. Therefore,
// users should make sure not to use the same scenario name
if (Directory.Exists(WorkingDirectory))
{
Directory.Delete(WorkingDirectory, true);
}
Directory.CreateDirectory(WorkingDirectory);
// 4. For each scene, do the followings
foreach (GameObject Scene in AllScenes)
{
// 4.1 create a sub-folder with the scenarioName name
WorkingDirectory = Application.persistentDataPath + "/" + scenarioName + "/" + Scene.name;
Directory.CreateDirectory(WorkingDirectory);
// 4.2 create a list to store all the names of the objects
List <string> AllObjectNames = new List <string>();
// 4.3 Fill in the class SceneDetails according to the design of the scene
SceneDetails sceneDetails = new SceneDetails();
sceneDetails.Walls = new List <wall>();
sceneDetails.Floors = new List <floor>();
sceneDetails.Ceilings = new List <ceiling>();
sceneDetails.Obstacles = new List <obstacle>();
sceneDetails.Doors = new List <door>();
sceneDetails.Fires = new List <fire>();
sceneDetails.Pedestrians = new List <pedestrian>();
sceneDetails.Players = new List <player>();
// 4.3.1 Fill in the simulation info
sceneDetails.SimTime = Scene.GetComponent <SceneInfo>().SimulationTime;
sceneDetails.Width = Scene.GetComponent <SceneInfo>().Width;
sceneDetails.Length = Scene.GetComponent <SceneInfo>().Length;
sceneDetails.Height = Scene.GetComponent <SceneInfo>().Height;
sceneDetails.PlayerX = Scene.GetComponent <SceneInfo>().PlayerX;
sceneDetails.PlayerY = Scene.GetComponent <SceneInfo>().PlayerY;
// 4.3.2 fill in the info of different objects into sceneDetails
foreach (Transform ChildObjectTransform in Scene.transform)
{
// Wall and its doors
if (ChildObjectTransform.tag == "Wall")
{
wall WallInfo = new wall();
Wall wallinfo = ChildObjectTransform.gameObject.GetComponent <Wall>();
AllObjectNames.Add(wallinfo.Name);
WallInfo.NameIndex = AllObjectNames.Count - 1;
WallInfo.xpos = wallinfo.x_pos;
WallInfo.ypos = wallinfo.y_pos;
WallInfo.zrot = wallinfo.z_rot;
WallInfo.Width = wallinfo.Width;
WallInfo.Height = wallinfo.Height;
WallInfo.Opacity = wallinfo.Opacity;
sceneDetails.Walls.Add(WallInfo);
// doors that are attached to it
foreach (Transform doorTransform in ChildObjectTransform)
{
if (doorTransform.tag == "Door")
{
door DoorInfo = new door();
Door doorinfo = doorTransform.gameObject.GetComponent <Door>();
AllObjectNames.Add(doorinfo.Name);
DoorInfo.NameIndex = AllObjectNames.Count - 1;
DoorInfo.RelativePosition = doorinfo.RelativePosition;
DoorInfo.Width = doorinfo.Width;
DoorInfo.Height = doorinfo.Height;
if (doorinfo.Open)
{
DoorInfo.Open = 1;
}
else
{
DoorInfo.Open = 0;
}
DoorInfo.WallNameIndex = WallInfo.NameIndex;
AllObjectNames.Add(doorinfo.NextScene.name);
DoorInfo.SceneNameIndex = AllObjectNames.Count - 1;
sceneDetails.Doors.Add(DoorInfo);
}
}
}
// Floor
else if (ChildObjectTransform.tag == "Floor")
{
floor FloorInfo = new floor();
Floor floorinfo = ChildObjectTransform.gameObject.GetComponent <Floor>();
AllObjectNames.Add(floorinfo.Name);
FloorInfo.NameIndex = AllObjectNames.Count - 1;
FloorInfo.xpos = floorinfo.x_pos;
FloorInfo.ypos = floorinfo.y_pos;
FloorInfo.Width = floorinfo.Width;
FloorInfo.Length = floorinfo.Length;
sceneDetails.Floors.Add(FloorInfo);
}
// Ceiling
else if (ChildObjectTransform.tag == "Ceiling")
{
ceiling CeilingInfo = new ceiling();
Ceiling ceilinginfo = ChildObjectTransform.gameObject.GetComponent <Ceiling>();
AllObjectNames.Add(ceilinginfo.Name);
CeilingInfo.NameIndex = AllObjectNames.Count - 1;
CeilingInfo.xpos = ceilinginfo.x_pos;
CeilingInfo.ypos = ceilinginfo.y_pos;
CeilingInfo.zpos = ceilinginfo.z_pos;
CeilingInfo.Width = ceilinginfo.Width;
CeilingInfo.Length = ceilinginfo.Length;
CeilingInfo.Opacity = ceilinginfo.Opacity;
sceneDetails.Ceilings.Add(CeilingInfo);
}
// Obstacle
else if (ChildObjectTransform.tag == "Obstacle")
{
obstacle ObstacleInfo = new obstacle();
Obstacle obstacleinfo = ChildObjectTransform.gameObject.GetComponent <Obstacle>();
AllObjectNames.Add(obstacleinfo.Name);
ObstacleInfo.NameIndex = AllObjectNames.Count - 1;
ObstacleInfo.xpos = obstacleinfo.x_pos;
ObstacleInfo.ypos = obstacleinfo.y_pos;
ObstacleInfo.Width = obstacleinfo.Width;
ObstacleInfo.Length = obstacleinfo.Length;
ObstacleInfo.Height = obstacleinfo.Height;
ObstacleInfo.Opacity = obstacleinfo.Opacity;
sceneDetails.Obstacles.Add(ObstacleInfo);
}
// Fire
else if (ChildObjectTransform.tag == "Fire")
{
fire FireInfo = new fire();
Fire fireinfo = ChildObjectTransform.gameObject.GetComponent <Fire>();
AllObjectNames.Add(fireinfo.Name);
FireInfo.NameIndex = AllObjectNames.Count - 1;
FireInfo.xpos = fireinfo.x_pos;
FireInfo.ypos = fireinfo.y_pos;
FireInfo.zpos = fireinfo.z_pos;
FireInfo.Width = fireinfo.Width;
FireInfo.Length = fireinfo.Length;
FireInfo.HRRPUA = fireinfo.HRRPUA;
FireInfo.CO_YIELD = fireinfo.CO_YIELD;
FireInfo.SOOT_YIELD = fireinfo.SOOT_YIELD;
FireInfo.Fuel = Array.IndexOf(fireinfo.Fuels,
fireinfo.FUEL);
sceneDetails.Fires.Add(FireInfo);
}
// Pedestrian
else if (ChildObjectTransform.tag == "Pedestrian")
{
pedestrian PedestrianInfo = new pedestrian();
Pedestrian pedestrianinfo = ChildObjectTransform.gameObject.GetComponent <Pedestrian>();
AllObjectNames.Add(pedestrianinfo.Name);
PedestrianInfo.NameIndex = AllObjectNames.Count - 1;
PedestrianInfo.xpos = pedestrianinfo.x_pos;
PedestrianInfo.ypos = pedestrianinfo.y_pos;
PedestrianInfo.Speed = pedestrianinfo.Speed;
PedestrianInfo.Health = pedestrianinfo.Health;
AllObjectNames.Add(pedestrianinfo.Exit.name);
PedestrianInfo.ExitNameIndex = AllObjectNames.Count - 1;
sceneDetails.Pedestrians.Add(PedestrianInfo);
}
else if (ChildObjectTransform.tag == "Player")
{
player PlayerInfo = new player();
Player playerinfo = ChildObjectTransform.gameObject.GetComponent <Player>();
AllObjectNames.Add(playerinfo.Name);
PlayerInfo.NameIndex = AllObjectNames.Count - 1;
PlayerInfo.xpos = playerinfo.x_pos;
PlayerInfo.ypos = playerinfo.y_pos;
PlayerInfo.Speed = playerinfo.Speed;
PlayerInfo.Health = playerinfo.Health;
sceneDetails.Players.Add(PlayerInfo);
}
}
// 4.4 Save AllObjectNames into a text file
StreamWriter NamesTxtFile = new StreamWriter(WorkingDirectory + "/AllNames.txt");
foreach (string name in AllObjectNames)
{
NamesTxtFile.WriteLine(name);
}
NamesTxtFile.Close();
// 4.5 Save sceneDetails into a binary file, SceneDetails.dat
BinaryFormatter bf = new BinaryFormatter();
FileStream file = File.Open(WorkingDirectory + "/SceneDetails.dat", FileMode.OpenOrCreate);
bf.Serialize(file, sceneDetails);
file.Close();
}
}
private void stateMachine_Tick(object sender, EventArgs e)
{
obstacle positionObstacle = obstacle.PAS_D_OBSTACLE;
if (stateMachineActivated)
{
//Détermination de la position des obstacles en fonction des télémètres
if (TelemetreC < distanceCentre ||
((TelemetreG < distanceSecurite || TelemetreEG < distanceSecurite) &&
(TelemetreD < distanceSecurite || TelemetreED < distanceSecurite)))
{
positionObstacle = obstacle.OBSTACLE_EN_FACE;
}
else if (TelemetreD < distanceCotes)
{
// (TelemetreD > 500 &&
// TelemetreED < distanceSecurite && TelemetreC < distanceSecurite)) //Obstacle à droite
positionObstacle = obstacle.OBSTACLE_CRITIQUE_DROITE;
}
else if (TelemetreG < distanceCotes)
{
positionObstacle = obstacle.OBSTACLE_CRITIQUE_GAUCHE;
}
else if (TelemetreD < distanceCotes &&
TelemetreED < distanceECotes)
{
positionObstacle = obstacle.OBSTACLE_A_DROITE;
}
else if (TelemetreG < distanceCotes &&
TelemetreEG < distanceECotes)
{
positionObstacle = obstacle.OBSTACLE_A_GAUCHE;
}
else if (TelemetreG > distanceCotes &&
TelemetreC > distanceCentre &&
TelemetreEG < distanceECotes)
{
positionObstacle = obstacle.OBSTACLE_E_GAUCHE;
}
else if (TelemetreD > distanceCotes &&
TelemetreC > distanceCentre &&
TelemetreED < distanceECotes)
{
positionObstacle = obstacle.OBSTACLE_E_DROIT;
}
else if (TelemetreC < distanceCentreEloigne ||
TelemetreD < distanceCotesEloigne ||
TelemetreG < distanceCotesEloigne ||
TelemetreED < distanceECotesEloigne ||
TelemetreEG < distanceECotesEloigne)
{
positionObstacle = obstacle.OBSTACLE_ELOIGNE;
}
else if (TelemetreD > distanceCotes &&
TelemetreC > distanceCentre &&
TelemetreG > distanceCotes &&
TelemetreEG > distanceECotes &&
TelemetreED > distanceECotes) //pas d?obstacle
{
positionObstacle = obstacle.PAS_D_OBSTACLE;
}
//Détermination de l?état à venir du robot
if (positionObstacle == obstacle.PAS_D_OBSTACLE)
{
UartEncodeAndSendMessage(0x0051, 1, new byte[] { (byte)stateRobot.STATE_AVANCE });
stateChanged = (int)stateRobot.STATE_AVANCE;
if (timestamp_1 - timestamp > 20)
{
coteChoisi = 0;
nombreTours = 0;
}
}
else if (positionObstacle == obstacle.OBSTACLE_EN_FACE || nombreTours > 20)
{
timestamp_1 = timestamp;
if (Math.Abs(TelemetreG - TelemetreD) > 1 && coteChoisi == 0)
{
if (TelemetreG > TelemetreD)
{
UartEncodeAndSendMessage(0x0051, 1, new byte[] { (byte)stateRobot.STATE_TOURNE_SUR_PLACE_GAUCHE });
stateChanged = (int)stateRobot.STATE_TOURNE_SUR_PLACE_GAUCHE;
coteChoisi = 1;
}
else
{
UartEncodeAndSendMessage(0x0051, 1, new byte[] { (byte)stateRobot.STATE_TOURNE_SUR_PLACE_DROITE });
stateChanged = (int)stateRobot.STATE_TOURNE_SUR_PLACE_DROITE;
coteChoisi = 2;
}
}
else
{
if (coteChoisi != 0)
{
UartEncodeAndSendMessage(0x0051, 1, new byte[] { (byte)(6 + coteChoisi * 2) });
stateChanged = 6 + coteChoisi * 2;
}
}
}
else if (positionObstacle == obstacle.OBSTACLE_A_DROITE)
{
nombreTours++;
UartEncodeAndSendMessage(0x0051, 1, new byte[] { (byte)stateRobot.STATE_TOURNE_GAUCHE });
stateChanged = (int)stateRobot.STATE_TOURNE_GAUCHE;
}
else if (positionObstacle == obstacle.OBSTACLE_A_GAUCHE)
{
nombreTours++;
UartEncodeAndSendMessage(0x0051, 1, new byte[] { (byte)stateRobot.STATE_TOURNE_DROITE });
stateChanged = (int)stateRobot.STATE_TOURNE_DROITE;
}
else if (positionObstacle == obstacle.OBSTACLE_ELOIGNE)
{
UartEncodeAndSendMessage(0x0051, 1, new byte[] { (byte)stateRobot.STATE_AVANCE_LENTEMENT });
stateChanged = (int)stateRobot.STATE_AVANCE_LENTEMENT;
if (timestamp_1 - timestamp > 20)
{
coteChoisi = 0;
nombreTours = 0;
}
}
else if (positionObstacle == obstacle.OBSTACLE_CENTRE_DROIT)
{
UartEncodeAndSendMessage(0x0051, 1, new byte[] { (byte)stateRobot.STATE_TOURNE_SUR_PLACE_GAUCHE });
stateChanged = (int)stateRobot.STATE_TOURNE_SUR_PLACE_GAUCHE;
}
else if (positionObstacle == obstacle.OBSTACLE_CENTRE_GAUCHE)
{
UartEncodeAndSendMessage(0x0051, 1, new byte[] { (byte)stateRobot.STATE_TOURNE_SUR_PLACE_DROITE });
stateChanged = (int)stateRobot.STATE_TOURNE_SUR_PLACE_DROITE;
}
else if (positionObstacle == obstacle.OBSTACLE_E_DROIT)
{
UartEncodeAndSendMessage(0x0051, 1, new byte[] { (byte)stateRobot.STATE_TOURNE_LENTEMENT_GAUCHE });
stateChanged = (int)stateRobot.STATE_TOURNE_LENTEMENT_GAUCHE;
nombreTours++;
}
else if (positionObstacle == obstacle.OBSTACLE_E_GAUCHE)
{
UartEncodeAndSendMessage(0x0051, 1, new byte[] { (byte)stateRobot.STATE_TOURNE_LENTEMENT_DROITE });
stateChanged = (int)stateRobot.STATE_TOURNE_LENTEMENT_DROITE;
nombreTours++;
}
else if (positionObstacle == obstacle.OBSTACLE_CRITIQUE_DROITE)
{
nombreTours++;
UartEncodeAndSendMessage(0x0051, 1, new byte[] { (byte)stateRobot.STATE_TOURNE_SUR_PLACE_GAUCHE });
stateChanged = (int)stateRobot.STATE_TOURNE_SUR_PLACE_GAUCHE;
}
else if (positionObstacle == obstacle.OBSTACLE_CRITIQUE_GAUCHE)
{
nombreTours++;
UartEncodeAndSendMessage(0x0051, 1, new byte[] { (byte)stateRobot.STATE_TOURNE_SUR_PLACE_DROITE });
stateChanged = (int)stateRobot.STATE_TOURNE_SUR_PLACE_DROITE;
}
}
}
/* Finds out when the next object is reached and gives movement options */
void OnTriggerEnter(Collider coll)
{
if (!coll.name.StartsWith("C"))
{
print("hit the ship");
if (coll.name == this.targetObatacle.getName())
{
if (coll.gameObject.name == this.finishObstacle.getName())
{
this.inputAble = false;
this.moveToObstacle = goal;
this.moveObject = true;
print("Ready to finish");
}
else if (coll.gameObject.name == this.goal.getName())
{
send("GameFin");
}
else
{
this.loopPath.Clear();
//this.speed = 2.5f;
this.inputAble = true;
calMovement(moveToObstacle);
}
}
else
{
int index = this.loopPath.IndexOf(this.moveToObstacle) + 1;
if (index < this.loopPath.Count)
{
this.moveToObstacle = this.loopPath.ElementAt(index);
}
}
//this.planetTrigger = true;
//this.transform.position = this.moveToObstacle.transform.position - new Vector3(0f,0f,1.5f);
//this.transform.position.x = this.moveToObstacle.transform.position.x;
//this.transform.position.y = this.moveToObstacle.transform.position.y;
}
/*
* if (!coll.name.StartsWith ("C")) {
* if (coll.gameObject.name == "FINISH") {
* this.inputAble = false;
* send("GameFin");
* } else {
* if(coll.name == this.targetObatacle.getName()){
* //this.travling = false;
* this.loopPath.Clear();
* this.speed = 2f;
* this.inputAble = true;
* calMovement(moveToObstacle);
* }else{
* int index = this.loopPath.IndexOf(this.moveToObstacle) + 1;
* if(index < this.loopPath.Count){
* this.moveToObstacle = this.loopPath.ElementAt(index);
* }
* }
* }
* }
*/
}
